System and method for closed-loop neural stimulation

ABSTRACT

Various device embodiments comprise a pulse generator, a signal processing module and a controller. The pulse generator is adapted to provide a neural stimulation signal to be applied at a neural simulation site within an autonomic nervous system (ANS). The signal processing module is adapted to receive and process sensed neural traffic at a neural sensing site within the ANS. The controller is connected to the pulse generator and adapted to provide a neural stimulation control signal to the pulse generator to generate the neural stimulation signal, and to the signal processing module to receive a feedback control signal indicative of the sensed neural traffic. The controller is adapted to adjust the neural stimulation control signal to adjust at least one parameter of the neural stimulation signal to converge on desired sensed neural traffic at the neural sensing site. Other aspects and embodiments are provided herein.

CLAIM OF PRIORITY

This application is a continuation of and claims the benefit of priorityunder 35 U.S.C. §120 to U.S. patent application Ser. No. 11/280,940,filed Nov. 16, 2005, which claims the benefit of U.S. ProvisionalApplication No. 60/712,302, filed on Aug. 29, 2005, under 35 U.S.C.§119(e) and is a Continuation-In-Part of U.S. Ser. No. 10/992,319, filedon Nov. 18, 2004, the specifications of which are incorporated herein byreference in their entirety.

CROSS REFERENCE TO RELATED APPLICATIONS

The following commonly assigned U.S. patent applications are related,and are herein incorporated by reference in their entirety: “AutomaticBaroreflex Modulation Based on Cardiac Activity,” Ser. No. 10/746,846,filed on Dec. 24, 2003; and “Cardiac Rhythm Management Device WithNeural Sensor,” Ser. No. 10/992,320, filed on Nov. 18, 2004, now U.S.Pat. No. 7,769,450.

TECHNICAL FIELD

This application relates generally to neural stimulation systems and,more particularly, to systems, devices and methods for sensing nervetraffic and providing closed-loop neural stimulation based on sensednerve traffic.

BACKGROUND

Neural stimulators are used to treat a variety of disorders, such asepilepsy, obesity, and breathing disorders. Experimentally, neuralstimulation has been shown to have a significant effect on severalcardiovascular conditions, and has been proposed to treat hypertension,post myocardial infarction (MI) remodeling and heart failure.

Hypertension is a cause of heart disease and other related cardiacco-morbidities. Hypertension occurs when blood vessels constrict. As aresult, the heart works harder to maintain flow at a higher bloodpressure, which can contribute to heart failure. A large segment of thegeneral population, as well as a large segment of patients implantedwith pacemakers or defibrillators, suffer from hypertension. The longterm mortality as well as the quality of life can be improved for thispopulation if blood pressure and hypertension can be reduced. Manypatients who suffer from hypertension do not respond to treatment, suchas treatments related to lifestyle changes and hypertension drugs.

Direct electrical stimulation has been applied to afferent nerve trunks,including the vagus nerve and carotid sinus. Research has indicated thatelectrical stimulation of the carotid sinus nerve can result inreduction of experimental hypertension, and that direct electricalstimulation to the pressoreceptive regions of the carotid sinus itselfbrings about reflex reduction in experimental hypertension. Electricalsystems have been proposed to treat hypertension in patients who do nototherwise respond to therapy involving lifestyle changes andhypertension drugs, and possibly to reduce drug dependency for otherpatients. The stimulation of sympathetic afferents triggers sympatheticactivation, parasympathetic inhibition, vasoconstriction, andtachycardia. In contrast, parasympathic activation results inbradycardia, vasodilation and inhibition of vasopressin release.

Neural stimulators that rely on continuous or intermittent open-loopstimulation do not adapt to physiologic changes during therapy.

SUMMARY

Various aspects of the present subject matter relate to a device.Various device embodiments comprise a pulse generator, a signalprocessing module and a controller. The pulse generator is adapted toprovide a neural stimulation signal to be applied at a neural simulationsite within an autonomic nervous system (ANS). The signal processingmodule is adapted to receive and process sensed neural traffic at aneural sensing site within the ANS. The controller is connected to thepulse generator and adapted to provide a neural stimulation controlsignal to the pulse generator to generate the neural stimulation signal,and to the signal processing module to receive a feedback control signalindicative of the sensed neural traffic. The controller is adapted toadjust the neural stimulation control signal to adjust at least oneparameter of the neural stimulation signal to converge on desired sensedneural traffic at the neural sensing site.

Various aspects of the present subject matter relate to a method.According to various embodiments of the method, nerve traffic is sensedat a first autonomic nervous system (ANS) site. A feedback signal isgenerated that is indicative of at least one parameter derived fromsensed nerve traffic at the first ANS site. A neural stimulation controlsignal with stimulation settings is generated using the feedback signal.A neural stimulation signal with a controlled neural stimulationintensity is generated at a second ANS site using the neural stimulationcontrol signal.

This Summary is an overview of some of the teachings of the presentapplication and not intended to be an exclusive or exhaustive treatmentof the present subject matter. Further details about the present subjectmatter are found in the detailed description and appended claims. Otheraspects will be apparent to persons skilled in the art upon reading andunderstanding the following detailed description and viewing thedrawings that form a part thereof, each of which are not to be taken ina limiting sense. The scope of the present invention is defined by theappended claims and their equivalents.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B illustrate neural mechanisms for peripheral vascularcontrol.

FIGS. 2A-2C illustrate a heart.

FIG. 3 illustrates baroreceptors and afferent nerves in the area of thecarotid sinuses and aortic arch.

FIG. 4 illustrates baroreceptors in and around the pulmonary artery.

FIG. 5 illustrates baroreceptor fields in the aortic arch, theligamentum arteriosum and the trunk of the pulmonary artery.

FIG. 6 illustrates a known relationship between respiration and bloodpressure when the baroreflex is stimulated.

FIG. 7 illustrates a blood pressure response to carotid sinus nervestimulation in a hypertensive dog during 6 months of intermittentcarotid nerve stimulation.

FIGS. 8A-8C illustrate a known response of vagal nerve stimulation forrats with chronic heart failure (CHF), indicating that vagal nervestimulation prevented pumping failure and cardiac remodeling and thusimproved the long-term survival of CHF rats.

FIG. 9A illustrates a system including an implantable medical device(IMD) and a programmer, according to various embodiments of the presentsubject matter; and FIG. 9B illustrates an implantable medical device(IMD) such as the IMD shown in the system of FIG. 9A, according tovarious embodiments of the present subject matter.

FIG. 10 illustrates an implantable medical device (IMD) such as shown inFIG. 8 having a neural stimulator (NS) component and cardiac rhythmmanagement (CRM) component, according to various embodiments of thepresent subject matter.

FIG. 11 illustrates a programmer such as illustrated in the system ofFIG. 8 or other external device to communicate with the implantablemedical device(s), according to various embodiments of the presentsubject matter.

FIGS. 12A-12C illustrate neural stimulators, according to variousembodiments of the present subject matter.

FIG. 13 illustrates a pulse generator, such as shown in the neuralstimulators of FIGS. 12A-12C, according to various embodiments of thepresent subject matter.

FIG. 14 illustrates a signal processing module, such as shown in theneural stimulators of FIGS. 12A-12C, according to various embodiments ofthe present subject matter.

FIG. 15 illustrates a method for closed-loop stimulation, according tovarious embodiments of the present subject matter.

FIGS. 16A-16D illustrate various closed-loop control systems implementedby various neural stimulation device embodiments.

FIG. 17 illustrates an embodiment of a control system for an embodimentof a implantable medical device (IMD) which senses neural activitywithin the autonomic nervous system (ANS) to control neural stimulationof a neural target within the ANS.

FIG. 18 illustrates an embodiment to stimulate and sense on the sameperipheral nerve path.

FIG. 19 illustrates an embodiment to stimulate and sense at the sameneural site.

FIG. 20 illustrates efferent and afferent sympathetic nerves andefferent and afferent parasympathetic nerves within the autonomicnervous system (ANS).

FIGS. 21A-D illustrate various control system embodiments forstimulating a sympathetic efferent nerve.

FIGS. 22A-D illustrate various control system embodiments forstimulating a sympathetic afferent nerve.

FIGS. 23A-D illustrate various control system embodiments forstimulating a parasympathetic afferent nerve.

FIGS. 24A-D illustrate various control system embodiments forstimulating a parasympathetic efferent nerve.

FIG. 25 illustrates an embodiment of a method to adjust neuralstimulation based on sensed parameter(s).

DETAILED DESCRIPTION

The following detailed description of the present subject matter refersto the accompanying drawings which show, by way of illustration,specific aspects and embodiments in which the present subject matter maybe practiced. These embodiments are described in sufficient detail toenable those skilled in the art to practice the present subject matter.Other embodiments may be utilized and structural, logical, andelectrical changes may be made without departing from the scope of thepresent subject matter. References to “an”, “one”, or “various”embodiments in this disclosure are not necessarily to the sameembodiment, and such references contemplate more than one embodiment.The following detailed description is, therefore, not to be taken in alimiting sense, and the scope is defined only by the appended claims,along with the full scope of legal equivalents to which such claims areentitled.

A device is provided with at least one lead for use to perform neuralsensing and neural stimulation functions. The device is able to amplify,filter, record and analyze the target nerve activity, and use theresulting information to accurately and appropriately deliver the neuralstimulation. Sympathetic nerve activity (SNA) has a low signal amplitude(1-10 μV), and relatively high noise amplitude. Various embodimentsprovide amplification to provide a gain within a range of approximately1,000 to approximately 99,000, for example, and bandpass filtering topass frequencies within a range of approximately 30 Hz to approximately3,000 Hz, to process neural traffic associated with SNA. Variousembodiments use various subsets of these gain and frequency ranges.

Systems and methods are provided for monitoring nerve traffic for use todeliver appropriate neural stimulation. Monitored nerve traffic is usedto accurately provide autonomic modulation for accurate and appropriatedelivery of neural stimulation. Thus, the present subject mater providesa closed-loop neural stimulation system that allows the neuralstimulation device to monitor nerve traffic and continuously provideappropriate therapy. A neural sensing lead is used to record nervetraffic from the peripheral nervous system (such as baroreceptors,afferent nerves and/or efferent nerves) to guide neural stimulationtherapy, to record physiologic parameters such as pressure fordiagnostic purposes, and/or to guide CRM therapy. Applications include awide range of cardiovascular and non-cardiovascular diseases, such ashypertension, epilepsy, obesity, breathing disorders, and the like.

A brief description of hypertension and the baroreflex is providedbelow, followed by various systems to provide neural stimulation forhypertension or other therapies.

Hypertension and Baroreflex Physiology

A brief discussion of hypertension and the physiology related tobaroreceptors is provided to assist the reader with understanding thisdisclosure. This brief discussion introduces hypertension, the autonomicnervous system, and the baroreflex.

Hypertension is a cause of heart disease and other related cardiacco-morbidities. Hypertension generally relates to high blood pressure,such as a transitory or sustained elevation of systemic arterial bloodpressure to a level that is likely to induce cardiovascular damage orother adverse consequences. Hypertension has been arbitrarily defined asa systolic blood pressure above 140 mm Hg or a diastolic blood pressureabove 90 mm Hg. Hypertension occurs when blood vessels constrict. As aresult, the heart works harder to maintain flow at a higher bloodpressure. Consequences of uncontrolled hypertension include, but are notlimited to, retinal vascular disease and stroke, left ventricularhypertrophy and failure, myocardial infarction, dissecting aneurysm, andrenovascular disease.

The autonomic nervous system (ANS) regulates “involuntary” organs, whilethe contraction of voluntary (skeletal) muscles is controlled by somaticmotor nerves. Examples of involuntary organs include respiratory anddigestive organs, and also include blood vessels and the heart. Often,the ANS functions in an involuntary, reflexive manner to regulateglands, to regulate muscles in the skin, eye, stomach, intestines andbladder, and to regulate cardiac muscle and the muscle around bloodvessels, for example.

The ANS includes, but is not limited to, the sympathetic nervous systemand the parasympathetic nervous system. The sympathetic nervous systemis affiliated with stress and the “fight or flight response” toemergencies. Among other effects, the “fight or flight response”increases blood pressure and heart rate to increase skeletal muscleblood flow, and decreases digestion to provide the energy for “fightingor fleeing.” The parasympathetic nervous system is affiliated withrelaxation and the “rest and digest response” which, among othereffects, decreases blood pressure and heart rate, and increasesdigestion to conserve energy. The ANS maintains normal internal functionand works with the somatic nervous system.

Various embodiments of the present subject matter provide neuralstimulation to affect the heart rate, blood pressure, vasodilation andvasoconstriction. The heart rate and force is increased when thesympathetic nervous system is stimulated, and is decreased when thesympathetic nervous system is inhibited and the parasympathetic nervoussystem is stimulated. FIGS. 1A and 1B illustrate neural mechanisms forperipheral vascular control. FIG. 1A generally illustrates afferentnerves to vasomotor centers. An afferent nerve conveys impulses toward anerve center. FIG. 1B generally illustrates efferent nerves fromvasomotor centers. An efferent nerve conveys impulses away from a nervecenter.

Stimulating the sympathetic and parasympathetic nervous systems can haveeffects other than heart rate and blood pressure. For example,stimulating the sympathetic nervous system dilates the pupil, reducessaliva and mucus production, relaxes the bronchial muscle, reduces thesuccessive waves of involuntary contraction (peristalsis) of the stomachand the motility of the stomach, increases the conversion of glycogen toglucose by the liver, decreases urine secretion by the kidneys, andrelaxes the wall and closes the sphincter of the bladder. Stimulatingthe parasympathetic nervous system and/or inhibiting the sympatheticnervous system constricts the pupil, increases saliva and mucusproduction, contracts the bronchial muscle, increases secretions andmotility in the stomach and large intestine, and increases digestion inthe small intention, increases urine secretion, and contracts the walland relaxes the sphincter of the bladder. The functions associated withthe sympathetic and parasympathetic nervous systems are many and can becomplexly integrated with each other. Thus, an indiscriminatestimulation of the sympathetic and/or parasympathetic nervous systems toachieve a desired response, such as vasodilation, in one physiologicalsystem may also result in an undesired response in other physiologicalsystems.

A pressoreceptive region or field is capable of sensing changes inpressure, such as changes in blood pressure. Pressoreceptor regions arereferred to herein as baroreceptors, which generally include any sensorsof pressure changes. For example, baroreceptors include afferent nervesand further include sensory nerve endings that provide baroreceptorfields that are sensitive to the stretching of the wall that resultsfrom increased blood pressure from within, and function as the receptorof a central reflex mechanism that tends to reduce the pressure. Thebaroreflex functions as a negative feedback system, and relates to areflex mechanism triggered by stimulation of a baroreceptor. Increasedpressure stretches blood vessels, which in turn activates baroreceptorsin the vessel walls. Activation of baroreceptors naturally occursthrough internal pressure and stretching of the arterial wall, whichexcites the parasympathetic nervous system causing baroreflex inhibitionof sympathetic nerve activity (SNA) and a reduction in systemic arterialpressure. An increase in baroreceptor activity induces a reduction ofSNA, which reduces blood pressure by decreasing peripheral vascularresistance. Centrally mediated reflex pathways modulate cardiac rate,contractility and excitability. Baroreceptors and chemoreceptors in theheart, great vessels, and lungs, transmit neural signals reflective ofcardiac activity through vagal and afferent fibers to the centralnervous system. Chemoreceptors are also located within the carotidsinus. Thus, physiological parameters, such as systemic arterialpressure, can be determined based on nerve traffic. Such pressureinformation, for example, provides useful feedback information to guideCRM therapy such as CRT.

The baroreflex is a reflex triggered by stimulation of a baroreceptor. Abaroreceptor includes any sensor of pressure changes, such as sensorynerve endings in the wall of the auricles of the heart, vena cava,aortic arch and carotid sinus, that is sensitive to stretching of thewall resulting from increased pressure from within, and that functionsas the receptor of the central reflex mechanism that tends to reducethat pressure. Afferent nerves can also be electrically stimulated toinduce the baroreflex, which inhibits the sympathetic nerve activity andstimulates parasympathetic nerve activity. Afferent nerve trunks, suchas the vagus, aortic and carotid nerves, leading from the sensory nerveendings also form part of a baroreflex pathway. Stimulating a baroreflexpathway and/or baroreceptors inhibits sympathetic nerve activity,stimulates the parasympathetic nervous system and reduces systemicarterial pressure by decreasing peripheral vascular resistance andcardiac contractility. Baroreceptors are naturally stimulated byinternal pressure and the stretching of vessel wall (e.g. arterialwall).

Embodiments of the present subject matter provide neural stimulation andreceive sensed nerve traffic information to provide a closed-loop neuralstimulator system with neural activity feedback. Some aspects of thepresent subject matter locally sense and/or stimulate specific nerveendings in vessel walls rather than or in addition to afferent and/orefferent nerve trunks. For example, some embodiments sense and/orstimulate baroreceptor sites or fields in the pulmonary artery. Someembodiments of the present subject matter involve sensing and/orstimulating baroreceptor sites or nerve endings in the aorta, thechambers of the heart, some embodiments of the present subject matterinvolve sensing and/or stimulating efferent pathways such as the fatpads of the heart, and some embodiments of the present subject matterinvolve sensing and/or stimulating an afferent nerve trunk, such as thevagus, carotid and aortic nerves. Various embodiments involvecombinations of sensing and/or stimulating nerve endings, sensingefferent nerve pathways and sensing afferent nerve pathways. Someembodiments sense and/or stimulate nerve trunks using a cuff electrode,and some embodiments sense and/or stimulate nerve trunks using anintravascular lead positioned in a blood vessel proximate to the nerve.Examples of afferent nerve trunks include the vagus, aortic and carotidnerves. Examples of efferent nerve trunks include the cardiac branchesoff the vagus nerve. Stimulation of efferent nerves such as thesecardiac branches or the nerves in cardiac fat pads conveys nervousimpulses to an effector, and thus do not use the baroreflex negativefeedback of the central nervous system, which responds to nerve activityon afferent nerves with nerve activity on efferent nerves. Someembodiments sense and/or stimulate neural traffic at any of theabove-identified neural sites. Some embodiments stimulate efferentsympathetic nerve activity to treat hypotension, by providing specificefferent nerve branches that innervate specific target organs using asensed activity corresponding to arterial blood pressure to provide anegative feedback closed loop control.

FIGS. 2A-2C illustrate a heart. As illustrated in FIG. 2A, the heart 201includes a superior vena cava 202, an aortic arch 203, and a pulmonaryartery 204, and is useful to provide a contextual relationship with theillustrations in FIGS. 3-5. As is discussed in more detail below, thepulmonary artery 204 includes baroreceptors. A lead is capable of beingintravascularly inserted through a peripheral vein and through thetricuspid valve into the right ventricle of the heart (not expresslyshown in the figure) similar to a cardiac pacemaker lead, and continuefrom the right ventricle through the pulmonary valve into the pulmonaryartery. A portion of the pulmonary artery and aorta are proximate toeach other. Various embodiments stimulate baroreceptors and/or senseneural activity by the baroreceptor in the aorta using a leadintravascularly positioned in the pulmonary artery. Thus, according tovarious aspects of the present subject matter, the baroreflex isstimulated and/or nerve activity is sensed in or around the pulmonaryartery by at least one electrode intravascularly inserted into thepulmonary artery. In various embodiments, a wireless stimulating device,with or without pressure sensing capability, may be positioned viacatheter into the pulmonary artery. Control of stimulation and/or energyfor stimulation may be supplied by another implantable or externaldevice via ultrasonic, electromagnetic or a combination thereof. Aspectsof the present subject matter provide a relatively noninvasive surgicaltechnique to implant a neural traffic sensor, with or without abaroreceptor stimulator, intravascularly into the pulmonary artery.

FIGS. 2B-2C illustrate the right side and left side of the heart,respectively, and further illustrate cardiac fat pads. FIG. 2Billustrates the right atrium 267, right ventricle 268, sinoatrial node269, superior vena cava 202, inferior vena cava 270, aorta 271, rightpulmonary veins 272, and right pulmonary artery 273. FIG. 2B alsoillustrates a cardiac fat pad 274 between the superior vena cava andaorta. Autonomic ganglia in the cardiac fat pad 274 are stimulatedand/or nerve traffic is sensed in some embodiments using an electrodescrewed or otherwise inserted into the fat pad, and are stimulatedand/or nerve traffic is sensed in some embodiments using anintravenously-fed lead proximately positioned to the fat pad in a vesselsuch as the right pulmonary artery or superior vena cava, for example.FIG. 2C illustrates the left atrium 275, left ventricle 276, rightatrium 267, right ventricle 268, superior vena cava 202, inferior venacava 270, aorta 271, right pulmonary veins 272, left pulmonary vein 277,right pulmonary artery 273, and coronary sinus 278. FIG. 2C alsoillustrates a cardiac fat pad 279 located proximate to the right cardiacveins and a cardiac fat pad 280 located proximate to the inferior venacava and left atrium. Autonomic ganglia in the fat pad 279 arestimulated and/or nerve traffic is sensed in some embodiments using anelectrode screwed or otherwise inserted into the fat pad 279, and arestimulated and/or nerve traffic is sensed in some embodiments using anintravenously-fed lead proximately positioned to the fat pad in a vesselsuch as the right pulmonary artery 273 or right pulmonary vein 272, forexample. Autonomic ganglia in the cardiac fat pad 280 are stimulatedand/or nerve traffic is sensed in some embodiments using an electrodescrewed or otherwise inserted into the fat pad, and are stimulatedand/or nerve traffic is sensed in some embodiments using anintravenously-fed lead proximately positioned to the fat pad in a vesselsuch as the inferior vena cava 270 or coronary sinus or a lead in theleft atrium 275, for example.

FIG. 3 illustrates baroreceptors in the area of the carotid sinus 305,aortic arch 303 and pulmonary artery 304. The aortic arch 303 andpulmonary artery 304 were previously illustrated with respect to theheart in FIG. 2A. As illustrated in FIG. 3, the vagus nerve 306 extendsand provides sensory nerve endings 307 that function as baroreceptors inthe aortic arch 303, in the carotid sinus 305 and in the common carotidartery 310. The glossopharyngeal nerve 308 provides nerve endings 309that function as baroreceptors in the carotid sinus 305. These nerveendings 307 and 309, for example, are sensitive to stretching of thewall resulting from increased pressure from within. Activation of thesenerve endings reduce pressure. Although not illustrated in the figures,the fat pads and the atrial and ventricular chambers of the heart alsoinclude baroreceptors. Cuffs have been placed around afferent nervetrunks, such as the vagal nerve, leading from baroreceptors to vasomotorcenters to stimulate the baroreflex. According to various embodiments ofthe present subject matter, afferent nerve trunks can be stimulatedusing a cuff or intravascularly-fed lead positioned in a blood vesselproximate to the afferent nerves.

FIG. 4 illustrates baroreceptors in and around a pulmonary artery 404.The superior vena cava 402 and the aortic arch 403 are also illustrated.As illustrated, the pulmonary artery 404 includes a number ofbaroreceptors 411, as generally indicated by the dark area. Furthermore,a cluster of closely spaced baroreceptors is situated near theattachment of the ligamentum arteriosum 412. FIG. 4 also illustrates theright ventricle 413 of the heart, and the pulmonary valve 414 separatingthe right ventricle 413 from the pulmonary artery 404. According tovarious embodiments of the present subject matter, a lead is insertedthrough a peripheral vein and threaded through the tricuspid valve intothe right ventricle, and from the right ventricle 413 through thepulmonary valve 414 and into the pulmonary artery 404 to stimulatebaroreceptors in and/or around the pulmonary artery. In variousembodiments, for example, the lead is positioned to stimulate thecluster of baroreceptors near the ligamentum arteriosum 412. FIG. 5illustrates baroreceptor fields 512 in the aortic arch 503, near theligamentum arteriosum and the trunk of the pulmonary artery 504. Someembodiments position the lead in the pulmonary artery to stimulatebaroreceptor sites in the aorta and/or fat pads, such as are illustratedin FIGS. 2B-2C.

FIG. 6 illustrates a known relationship between respiration 615 andblood pressure 616 when the left aortic nerve is stimulated. When thenerve is stimulated at 617, the blood pressure 616 drops, and therespiration 615 becomes faster and deeper, as illustrated by the higherfrequency and amplitude of the respiration waveform. The respiration andblood pressure appear to return to the pre-stimulated state inapproximately one to two minutes after the stimulation is removed. Thisrelationship between respiration and blood pressure allows respirationto be used as a surrogate parameter for blood pressure under someconditions.

FIG. 7 illustrates a known blood pressure response to carotid sinusnerve stimulation in a hypertensive dog during 6 months of intermittentcarotid nerve stimulation. The carotid nerve stimulation involvedturning on a carotid nerve stimulator once a month for up to six hours,and measuring the blood pressure response to monitor the stability ofthe acute response over long time periods. The figure illustrates thatthe blood pressure of a stimulated dog 718 is significantly less thanthe blood pressure of a control dog 719 that also has high bloodpressure. Thus, such stimulation is capable of triggering the baroreflexto reduce high blood pressure.

FIGS. 8A-8C illustrate a known response of vagal nerve stimulation forrats with chronic heart failure (CHF), indicating that vagal nervestimulation prevented pumping failure and cardiac remodeling and thusimproved the long-term survival of CHF rats in one study. Previousstudies indicated that diminished cardiac vagal activity and increasedheart rate predict a high mortality rate of CHF. Ligation of the leftcoronary artery of the rats induced CHF. Vagal stimulation (rectangularpulses of 0.2 ms duration at 20 Hz for 10 seconds every minute) wasperformed on some of the CHF rats. Other CHF rats were sham stimulated.Other rats were operated on without inducing CHF. FIGS. 8A-8C includegraphs labeled with the numbers 801, 802 and 803, where 801 represents acontrol group of rats that were operated on without inducing CHF andthat are not treated with vagal stimulation, where 802 represents acontrol group of CHF rats that were sham stimulated, and where 803represents CHF rats treated with vagal stimulation. FIG. 8A illustratesaverage heart rates for rats without CHF 801, CHF rats with shamstimulation 802, and CHF rats with vagal stimulation 803. The rats withCHF 802 and 803 had a higher heart rate than the rats without CHF 801.CHF rats undergoing vagal stimulation 803 had significantly decreasedheart rates in comparison to CHF rats with sham stimulation 802. FIG. 8Billustrates the effects of vagal nerve stimulation on mean bloodpressure, left ventricular end-diastolic pressure (LVEDP), maximum rateof pressure change (dp/dt) of left ventricular pressure(LV+dP/dt_(max)), and normalized biventricular weight. FIG. 8Billustrates that the vagal stimulation improved pumping efficiency asevidenced by the lower LVEDP and higher LV+dP/dt_(max) forvagal-stimulated rats 803 compared to sham-stimulated rats 802, andfurther illustrates that the vagal stimulation decreased the normalizedbiventricular weight for vagal-stimulated rats 803 compared tosham-stimulated rats 802. FIG. 8C illustrates that vagal nervestimulation suppressed the mortality rate of CHF rats, as evidenced bythe higher survival rate of the vagal-stimulated CHF rats 803 incomparison to the sham-stimulated CHF rats 802.

Systems to Provide Neural Stimulation

Examples of neural stimulators include anti-hypertension (AHT) devicesor AHT components that are used to treat hypertension. Variousembodiments of the present subject matter include stand-aloneimplantable neural stimulator systems, and include implantable devicesthat have integrated NS and cardiac rhythm management (CRM) components,and include systems with at least one implantable NS device and animplantable CRM device capable of communicating with each other eitherwirelessly or through a wire lead connecting the implantable devices.Although implantable systems are illustrated and discussed, variousaspects and embodiments of the present subject matter can be implementedin external devices.

FIG. 9A illustrates a system 920 including an implantable medical device(IMD) 921A and a programmer 922, according to various embodiments of thepresent subject matter. Various embodiments of the IMD 921A includeneural stimulator functions only, various embodiments include CRMfunctions only, and various embodiments include a combination of NS andCRM functions. Examples of cardiac stimulators include implantablecardiac rhythm management (CRM) devices such as pacemakers, implantablecardiac defibrillators (ICDs), and implantable devices capable ofperforming pacing and defibrillating functions. Implantable CRM devicesprovide electrical stimulation to selected chambers of the heart inorder to treat disorders of cardiac rhythm. An implantable pacemaker,for example, is a CRM device that paces the heart with timed pacingpulses. The pacing pulses can be timed from other pacing pulses orsensed electrical activity. If functioning properly, the pacemaker makesup for the heart's inability to pace itself at an appropriate rhythm inorder to meet metabolic demand by enforcing a minimum heart rate. SomeCRM devices synchronize pacing pulses delivered to different areas ofthe heart in order to coordinate the contractions. Coordinatedcontractions allow the heart to pump efficiently while providingsufficient cardiac output.

Some embodiments of the neural stimulator provide AHT neural stimulationfunctions to treat hypertension.

The programmer 922 and the IMD 921A are capable of wirelesslycommunicating data and instructions. In various embodiments, forexample, the programmer 922 and IMD 921A use telemetry coils towirelessly communicate data and instructions. Thus, the programmer canbe used to adjust the programmed therapy provided by the IMD 921A, andthe IMD can report device data (such as battery and lead resistance) andtherapy data (such as sense and stimulation data) to the programmerusing radio telemetry, for example. According to various embodiments,the IMD 921A stimulates baroreceptors to provide NS therapy such as AHTtherapy. Various embodiments of the IMD 921A stimulate baroreceptors inthe pulmonary artery using a lead fed through the right ventriclesimilar to a cardiac pacemaker lead, and further fed into the pulmonaryartery. Other embodiments stimulate other baroreceptor sites orbaroreflex pathways or combinations thereof, such as illustrated anddescribed with respect to FIGS. 2A-2C, 3 and 4. According to variousembodiments, the IMD 921A includes a sensor to sense ANS activity. Sucha sensor can be used to perform feedback in a closed-loop controlsystem. For example, various embodiments sense surrogate parameters,such as respiration and blood pressure, indicative of ANS activity.According to various embodiments, the IMD further includes cardiacstimulation capabilities, such as pacing, cardiac resynchronizationtherapy (CRT) and defibrillating capabilities in addition to thecapabilities to stimulate baroreceptors and/or sense ANS activity. Insome embodiments, the illustrated IMD includes two or more devicescapable of communicating with each other via wireless technology; and insome embodiments, the illustrated IMD includes two or more devicescapable of communicating with each other via a cable or wire, such as anintravenously fed lead.

FIG. 9B illustrates an implantable medical device (IMD) 921B such as theIMD 921A shown in the system 920 of FIG. 9A, according to variousembodiments of the present subject matter. The illustrated IMD 921Bperforms NS functions. Some embodiments of the illustrated IMD 921Bperforms an AHT function, and thus illustrates an implantable AHTdevice. The illustrated device 921B includes controller circuitry 923and a memory 924. The controller circuitry 923 is capable of beingimplemented using hardware, software, and combinations of hardware andsoftware. For example, according to various embodiments, the controllercircuitry 923 includes a processor to perform instructions embedded inthe memory 924 to perform functions associated with NS therapy such asAHT therapy. For example, the illustrated device 921B further includes atransceiver 925 and associated circuitry for use to communicate with aprogrammer or another external or internal device. Various embodimentshave wireless communication capabilities. For example, some transceiverembodiments use a telemetry coil to wirelessly communicate with aprogrammer or another external or internal device.

The illustrated device 921B further includes baroreceptor stimulationcircuitry 926. Various embodiments of the device 921B also includessensor circuitry 927. One or more leads are able to be connected to thesensor circuitry 927 and baroreceptor stimulation circuitry 926. Thebaroreceptor stimulation circuitry 926 is used to apply electricalstimulation pulses to desired baroreceptors sites, such as baroreceptorsites in the pulmonary artery, through one or more stimulationelectrodes. The sensor circuitry 927 is used to detect and process ANSnerve activity. In various embodiments, the sensor circuitry is furtherused to detect and process surrogate parameters such as blood pressure,respiration and the like, to determine the ANS activity.

According to various embodiments, the stimulator circuitry 926 includesmodules to set or adjust any one or any combination of two or more ofthe following pulse features: the amplitude 928 of the stimulationpulse, the frequency 929 of the stimulation pulse, the burst frequency930 of the pulse, the wave morphology 931 of the pulse, and the pulsewidth 932. The illustrated burst frequency 930 pulse feature includesburst duration and duty cycle, which can be adjusted as part of a burstfrequency pulse feature or can be adjusted separately. For example, aburst frequency can refer to the number of bursts per minute. Each ofthese bursts has a burst duration (an amount of time bursts ofstimulation are provided) and a duty cycle (a ratio of time wherestimulation is provided to total time). Thus, by way of example and notlimitation, six bursts can be delivered during a one minute stimulationtime (burst duration), where the length (pulse width) of each burst isfive seconds and the time period between bursts is five seconds. In thisexample, the burst frequency is six burst per minute, the burst durationis 60 seconds, and the duty cycle is 50% ((6 bursts×5 sec./burst)/60seconds). Additionally, the duration of one or more bursts can beadjusted without reference to any steady burst frequency. For example, asingle stimulation burst of a predetermined burst duration or a patternof bursts of predetermined pulse width(s) and burst timing can beprovided in response to a sensed signal. Furthermore, the duty cycle canbe adjusted by adjusting the number of bursts and/or adjusting theduration of one or more bursts, without requiring the bursts to bedelivered with a steady burst frequency. Examples of wave morphologyinclude a square wave, triangle wave, sinusoidal wave, and waves withdesired harmonic components to mimic white noise such as is indicativeof naturally-occurring baroreflex stimulation. Additionally, variouscontroller embodiments are capable of controlling a duration of thestimulation.

FIG. 10 illustrates an implantable medical device (IMD) such as shown inFIG. 9A having a neural stimulator (NS) component and cardiac rhythmmanagement (CRM) component, according to various embodiments of thepresent subject matter. Various IMD embodiments do not include a CRMcomponent, as illustrated in FIG. 10. The illustrated device 1021includes a controller 1023 and a memory 1024. According to variousembodiments, the controller 1023 includes hardware, software, or acombination of hardware and software to perform the neural stimulationand CRM functions. Examples of CRM functions include, for example,pacing, defibrillating, and cardiac resynchronization therapy (CRT)functions. For example, the programmed therapy applications discussed inthis disclosure are capable of being stored as computer-readableinstructions embodied in memory and executed by a processor. Accordingto various embodiments, the controller 1023 includes a processor toexecute instructions embedded in memory to perform the baroreceptorstimulation and CRM functions. The illustrated device 1021 furtherincludes a transceiver 1025 and associated circuitry for use tocommunicate with a programmer or another external or internal device.Various embodiments include a telemetry coil.

The CRM therapy section 1038 includes components, under the control ofthe controller, to stimulate a heart and/or sense cardiac signals usingone or more electrodes. The CRM therapy section includes a pulsegenerator 1039 for use to provide an electrical signal through anelectrode to stimulate a heart, and further includes sense circuitry1040 to detect and process sensed cardiac signals or otherwise detectpulsatile parameters according to the present subject matter. Aninterface 1041 is generally illustrated for use to communicate betweenthe controller 1023 and the pulse generator 1039 and sense circuitry1040. Three electrodes are illustrated as an example for use to provideCRM therapy. However, the present subject matter is not limited to aparticular number of electrode sites. One or more electrodes can bepositioned on a lead, and one or more leads can be used. Each electrodemay include its own pulse generator and sense circuitry. However, thepresent subject matter is not so limited. The pulse generating andsensing functions can be multiplexed to function with multipleelectrodes.

The NS therapy section 1037 includes components, under the control ofthe controller, to stimulate a baroreceptor and sense ANS parametersassociated with nerve activity, and in some embodiments sense surrogatesof ANS parameters such as blood pressure and respiration. Examples of NStherapy include, but are not limited to, therapies to treathypertension, epilepsy, obesity and breathing disorders. Threeinterfaces 1042 are illustrated for use to provide ANS therapy. However,the present subject matter is not limited to a particular numberinterfaces, or to any particular stimulating or sensing functions. Pulsegenerators 1043 are used to provide electrical pulses to an electrodefor use to stimulate a baroreceptor site. According to variousembodiments, the pulse generator includes circuitry to set, and in someembodiments change, the amplitude of the stimulation pulse, thefrequency of the stimulation pulse, the burst frequency of the pulse,and/or the morphology of the pulse such as a square wave, triangle wave,sinusoidal wave, and waves with desired harmonic components to mimicwhite noise or other signals. Sense circuits 1044 are used to detect andprocess signals from a sensor, such as a sensor of nerve activity,pulsatile parameters, blood pressure, respiration, and the like. Theinterfaces 1042 are generally illustrated for use to communicate betweenthe controller 1023 and the pulse generator 1043 and sense circuitry1044. Each interface, for example, may be used to control a separatelead. Various embodiments of the NS therapy section only include a pulsegenerator to stimulate baroreceptors. The NS therapy section is capableof providing AHT therapy to treat hypertension, for example.

Embodiments of the NS therapy section modify therapy based onelectrophysiological parameters such as heart rate, minute ventilation,atrial activation, ventricular activation, and cardiac events.Embodiments of the CRM therapy section modify therapy based on datareceived from the NS therapy section, such as mean arterial pressure,systolic and diastolic pressure, and baroreflex stimulation rate.

A system according to these embodiments can be used to augment partiallysuccessful treatment strategies. As an example, undesired side effectsmay limit the use of some pharmaceutical agents. The combination of asystem according to these embodiments with reduced drug doses may beparticularly beneficial.

According to various embodiments, the lead(s) and the electrode(s) onthe leads are physically arranged with respect to the heart in a fashionthat enables the electrodes to properly transmit pulses and sensesignals from the heart, and with respect to baroreceptors, such as nerveendings and nerve trunks, to stimulate the baroreflex. As there may be anumber of leads and a number of electrodes per lead, the configurationcan be programmed to use a particular electrode or electrodes. Accordingto various embodiments, the baroreflex is stimulated by stimulatingafferent nerve trunks.

FIG. 11 illustrates a programmer 1122, such as the programmer 922illustrated in the systems of FIG. 9, or other external device tocommunicate with the implantable medical device(s) 921, according tovarious embodiments of the present subject matter. An example of anotherexternal device includes Personal Digital Assistants (PDAs) or personallaptop and desktop computers in an Advanced Patient Management (APM)system. The illustrated device 1122 includes controller circuitry 1145and a memory 1146. The controller circuitry 1145 is capable of beingimplemented using hardware, software, and combinations of hardware andsoftware. For example, according to various embodiments, the controllercircuitry 1145 includes a processor to perform instructions embedded inthe memory 1146 to perform a number of functions, includingcommunicating data and/or programming instructions to the implantabledevices. The illustrated device 1122 further includes a transceiver 1147and associated circuitry for use to communicate with an implantabledevice. Various embodiments have wireless communication capabilities.For example, various embodiments of the transceiver 1147 and associatedcircuitry include a telemetry coil for use to wirelessly communicatewith an implantable device. The illustrated device 1122 further includesa display 1148, input/output (I/O) devices 1149 such as a keyboard ormouse/pointer, and a communications interface 1150 for use tocommunicate with other devices, such as over a communication network.

The above-described functions of a system, whether implemented in twoseparate and distinct implantable devices or integrated as componentsinto one or more implantable devices, include, but are not limited to,processes for monitoring nerve traffic as part of a closed-loop neuralstimulation system to continuously deliver appropriate neuralstimulation. Processes can be performed by a processor executingcomputer-readable instructions embedded in memory, for example.

The present subject matter provides neural stimulation using lead(s)that can be used to provide neural stimulation, and/or to detect andmonitor nerve traffic.

The lead is adapted to be connected to a device, such as an implantableneural stimulation device or integrated into a CRM device. The deviceprocesses the nerve signal with appropriate amplification and filteringfor the low amplitude and high noise level associated with the nervesignal. Various embodiments provide a signal processing module that caninclude a wavelet transformation or other noise reduction algorithm.Recorded nerve traffic is processed with a detection algorithm adaptedto identify the features of the signal, such as the pattern andintensity of the nerve traffic. The signal features are used todetermine desired neural stimulation parameters, such as duration,frequency and amplitude.

A neural stimulation lead can be placed in a number of appropriatelocations. For example, various lead embodiments to stimulate abaroreflex are expandable, and are adapted to be placed in the pulmonaryartery in the proximity of a high concentration of baroreceptors.Various lead embodiments are adapted to stimulate nerve endings incardiac fat pads. Some lead embodiments are transvascular leads placedproximal to a cardiac fat pad. Some lead embodiments place an epicardiallead in a cardiac fat pad. Various lead embodiments include a cuffelectrode adapted to be placed around a nerve, such as the aortic,carotid or vagus nerve. Other leads can be placed in other neuralstimulation and neural sensing locations to perform baroreflex or othertherapy.

The closed-loop neural stimulation can be implemented at a same site orat different sites. In embodiments of a same site implementation, a leadis placed in a baroreceptor field, in a cardiac fat pad, or around orproximate to a nerve trunk (such as the aortic, carotid or vagus nerve).The nerve traffic is detected and monitored with appropriateamplification and filtering characteristics. The pattern and/orintensity of nerve traffic is used to determine neural stimulationparameters, such as duration, frequency, and/or amplitude, at the samesite. In embodiments of a different site implementation, two neuralleads are placed in different locations, such as one lead in the fat padand one lead around the vagus nerve, for example. Nerve traffic at onesite is used to guide neural stimulation at the second site. Variousdevice embodiments monitor and record autonomic nerve traffic data aspart of an APM system.

Various device embodiments include an amplification and filteringcircuit adapted to process and monitor nerve traffic. The deviceincludes a signal processing module that includes a noise reductionalgorithm such as a wavelet transformation.

FIGS. 12A-12C illustrate neural stimulators, according to variousembodiments of the present subject matter. FIGS. 12A-12C illustrate afew logical arrangements for providing closed-loop neural stimulationbased on sensed neural traffic. Other logical arrangements are capableof being implemented, such as are illustrated in FIGS. 16A-16D.

The neural stimulator device 1251 illustrated in FIG. 12A includes acontroller 1252, at least one port 1253 to connect at least one lead1254, a pulse generator 1255 connected to the controller and to theport, and a signal processing module 1256 connected to the controllerand to the port. The at least one lead includes at least one electrode1257 for stimulation and/or sensing. The signal processing module 1256is adapted to receive and process a nerve traffic signal on path 1258from the lead into a signal indicative of the nerve traffic on signalpath 1259. The pulse generator 1255 is adapted to provide a neuralstimulation signal to the lead on signal path 1260 based on a controlsignal from the controller 1252 on path 1261. The controller is adaptedto implement a stimulation protocol 1262, which in conjunction with thepulse generator, provides the neural stimulation signal with desiredneural stimulation parameters based on the signal indicative of thenerve traffic received from the lead. For example, the amplitude,frequency, burst frequency, burst duration, duty cycle, morphology,pulse width, and various combinations thereof, for the neuralstimulation signal are capable of being adjusted based on the signalindicative of nerve traffic. The illustrated device is capable ofsensing and stimulating using the same lead. Thus, the closed-loopsystem can be based on sensed nerve traffic at or near the same sitewhere neural stimulation is applied.

The neural stimulator device 1251 illustrated in FIG. 12B includes acontroller 1252, at a first port 1253A to connect a first lead 1254A anda second port 1253B to connect a second lead 1254B, a pulse generator1255 connected to the controller and to the first port, and a signalprocessing module 1256 connected to the controller and to the secondport. The leads include at least one electrode 1257. The signalprocessing module 1256 is adapted to receive and process a nerve trafficsignal on path 1258 from the second lead 1254B into a signal indicativeof the nerve traffic on signal path 1259. The pulse generator 1255 isadapted to provide a neural stimulation signal to the lead on signalpath 1260 based on a control signal from the controller 1252 on path1261. The controller is adapted to implement a stimulation protocol1263, which in conjunction with the pulse generator, provides the neuralstimulation signal with desired neural stimulation parameters to thefirst lead based on the signal indicative of the nerve traffic receivedfrom the second lead. Thus, nerve traffic at one site is capable ofbeing used to guide neural stimulation at another site. For example, theamplitude, frequency, burst frequency, burst duration, duty cycle,morphology, pulse width, and various combinations thereof, for theneural stimulation signal are capable of being adjusted based on thesignal indicative of nerve traffic.

The neural stimulator device 1251 illustrated in FIG. 12C includes acontroller 1252, a first port 1253A to connect a first lead 1254A and asecond port 1253B to connect a second lead 1254B, a pulse generator 1255connected to the controller via path 1261A and 1261B and operablyconnected to the first and second ports via paths 1258A and 1258B toperform a desired stimulation, and a signal processing module 1256connected to the controller 1252 via path 1259A and 1259B and operablyconnected to the first and second ports to provide desired sensing. Theleads include at least one electrode. The signal processing module 1256is adapted to receive and process a nerve traffic signal on path 1258Afrom the first lead and on path 1258B from the second lead into asignals indicative of the nerve traffic sensed by the first and secondleads, respectively. The pulse generator 1255 is adapted to provide aneural stimulation signal to the first lead on signal path 1260A basedon a control signal from the controller 1252 on path 1261A, and to thesecond lead on signal path 1260B based on a control signal from thecontroller 1252 on path 1261B. The controller is adapted to implement astimulation protocol or protocols 1264A and 1264B, which in conjunctionwith the pulse generator, provides the neural stimulation signal withdesired neural stimulation parameters to the first lead based on thesignal indicative of the nerve traffic received from the second lead,and further provides the neural stimulation with desired neuralstimulation parameters to the second lead based on the signal indicativeof the nerve traffic received from the first lead. For example, theamplitude, frequency, burst frequency, burst duration, duty cycle,morphology, pulse width, and various combinations thereof, for theneural stimulation signal are capable of being adjusted based on thesignal indicative of nerve traffic. As illustrated in FIG. 12C,additional ports (Port N) can be included for use in sensing and/orstimulation.

According to various embodiments, the signal processing module isadapted to provide a signal or signals indicative of a nerve trafficpattern and/or nerve traffic intensity as an indication of the nervetraffic. According to various embodiments, the signal processing moduleis adapted to implement noise reduction algorithm, such as a wavelettransformation, to identify features of a nerve traffic signal that ischaracterized by a low amplitude and high noise level. According tovarious embodiments, the signal processing module includes an amplifier,such as an amplifier with a gain within a range of approximately 1,000to approximately 99,000. According to various embodiments, the signalprocessing module includes a bandpass filter, such as a filter to passfrequencies in a range from approximately 30 Hz to approximately 3,000Hz.

FIG. 13 illustrates a pulse generator, such as shown in the neuralstimulators of FIGS. 12A-12C, according to various embodiments of thepresent subject matter. The illustrated pulse generator 1355 is adaptedto receive a control signal via path 1361 from a controller and toprovide a neural stimulation signal via path 1360 to lead(s) viaport(s). The illustrated pulse generator includes a modulator 1364 thatis responsive to the control signal from the controller to change one ormore parameters of the stimulation signal such as the amplitude,frequency, burst frequency, burst duration, duty cycle, morphology,pulse width of the stimulation signal.

FIG. 14 illustrates a signal processing module, such as shown in theneural stimulators of FIGS. 12A-12C, according to various embodiments ofthe present subject matter. The illustrated signal processing module1456 is adapted to receive a nerve traffic signal via path 1458 andport(s) from lead(s) and to provide a signal indicative of the nervetraffic via path 1459 to the controller. Various embodiments include anamplifier 1465 and filter 1466 adapted to process the nerve activityinto a signal conditioned for discrimination or other processing.Various amplifier embodiments provide a gain within a range ofapproximately 1,000 to 99,000. Various filter embodiments passfrequencies in a range from approximately 30 Hz to approximately 3,000Hz. The illustrated signal processing module further includes a nervetraffic feature detector 1467, also referred to as a discriminator, toprocess the amplified and filtered signal to provide a signal indicativeof the nerve traffic to the controller. Various embodiments implement anoise reduction algorithm, such as a wavelet transformation, for use indiscriminating the signal. Various embodiments of the nerve trafficfeature detector discriminate a noise traffic pattern feature and/or anoise traffic intensity feature; and send these signals to thecontroller for use to guide the neural stimulation.

FIG. 15 illustrates method for closed-loop stimulation, according tovarious embodiments of the present subject matter. At 1570, nervetraffic is sensed. At 1571, one or more features of the nerve traffic isidentified. Various embodiments for identifying the feature(s) of thenerve traffic include implementing a noise reduction algorithm, such asa wavelet transformation. Examples of identified features include thepattern and intensity of the nerve traffic. In various embodiments,discriminating the signal to identify features of the nerve trafficsignal includes rectifying and applying a threshold to the nerve trafficsignal. In various embodiments, the discriminated signal is integratedusing, for example, an R-C Integrator 0.1 sec, to obtain a value for thenerve traffic activity over a 100 millisecond period of time. At 1572,neural stimulation is applied based on one or more features identifiedat 1571. In various embodiments, a controller implements a stimulationprotocol to change at least one parameter, such as the amplitude,frequency, burst frequency, burst duration, duty cycle, morphology,pulse width, and various combinations thereof, of the stimulationsignal.

FIGS. 16A-16D illustrate various closed-loop control systems implementedby various neural stimulation device embodiments. The neural stimulationdevice embodiment 1651A illustrated in FIG. 16A neural stimulates andsenses nerve traffic at the same site. For example, a nerve, nerveending or other site is stimulated during a first time period, and issensed during a second time period. The sensed nerve traffic is used toadjust subsequent neural stimulations.

The neural stimulation device embodiment 1651B illustrated in FIG. 16Bneural stimulates a first site (e.g. nerve ending or nerve) on a neuralpathway, and senses nerve traffic at a second site (e.g. nerve ending ornerve) on the same neural pathway. Thus, a vagus nerve trunk, by way ofexample and not by way of limitation, is stimulated and the resultingnerve traffic on the vagus nerve trunk is capable of beingsimultaneously sensed to provide feedback to adjust the neuralstimulation.

The neural stimulation device embodiment 1651C illustrated in FIG. 16Csenses nerve traffic at an afferent nerve site, and neural stimulates atan efferent nerve site. In this embodiment, the neural stimulationdevice bypasses the central nervous system (CNS). In a healthy nervoussystem, the CNS receives nerve signals from afferent nerves andappropriately responds by sending appropriate nerve signals to effectorsover efferent nerves. Such a system can be used to treat dysautomia, acondition where the autonomic nervous system (ANS) is dysfunctional, bybypassing the CNS by sensing afferent nerves and stimulating efferentnerves. Dysautomia includes Postural Orthostatic Tachycardia Syndrome(POTS), Neurocardiogenic Syncope (NCS), Pure Autonomic Failure (PAF) andMultiple System Atrophy (MSA). Thus, such a system bypasses the CNSphysiologic feedback for certain neural functions to overridedysfunctions of the autonomic nervous system.

The neural stimulation device embodiment 1651D illustrated in FIG. 16Dsenses nerve traffic at a first site on a first neural pathway, andneural stimulates at a second site on a second neural pathway. Thus, byway of example and not by way of limitation, nerve activity associatedwith baroreceptors can be used to provide an indication of bloodpressure, and heart rate can be appropriately controlled withappropriate neural stimulation of the SA cardiac fat pad.

The sympathetic and parasympathetic nervous systems have clearly definedsensory components that provide input to the central nervous system andplay an important role in autonomic reflexes. In addition, some sensoryfibers that project to the spinal cord also send a branch to autonomicganglia, thus forming reflex circuits that control some visceralautonomic functions. A reflex has been defined as a relativelystereotyped, or repeatable, movement or response elicited by a stimulusapplied to the periphery, transmitted to the central nervous system andthen transmitted back out to the periphery. Some reflexes are nearly thesame each time they are repeated. However, no activity of an organism isfixed and independent of either the state or the history of theorganism. Most reflexes involve the simplest of neural circuits, someonly two or a few neurons; but many reflexes are complex and are notfully understood.

Some reflexes serve protective functions, like the eyeblink reflex. Somereflexes act as control systems to maintain homeostasis in some bodilysystems. In a control system, information more-or-less continuouslyflows from the controlled element back to the device that controls it.The controlled system has an input that interacts with influences fromoutside the system, called disturbances, in producing the output of thesystem. A sensor is a device that measures the output of the system, andits measurement is the feedback signal to the error detector, alsoreferred to herein as a comparator. The feedback signal is compared withthe control signal (the signal that specifies the intended output) bythe error detector, which, when it finds a difference between the twosignals, sends an error signal to the controller to reduce the amount oferror. The actual output is brought closer to the intended output, thenew output is again sensed by the sensor, and a new correction is made.

FIG. 17 illustrates an embodiment of a control system for an embodimentof a implantable medical device (IMD) which senses neural activitywithin the autonomic nervous system (ANS) to control neural stimulationof a neural target within the ANS. Those of ordinary skill willunderstand, upon reading and comprehending this disclosure, that thefunctions illustrated and described with respect to the IMD 1721 of FIG.17 can be provided by the IMD embodiment 921B generally illustrated FIG.9B and the IMD embodiment generally illustrated in FIG. 10. Withreference to FIG. 17, the IMD 1721 includes controller circuitry 1723, aneural stimulator 1726 which can also be referred to as a pulsegenerator, and sensor circuits illustrated as neural sensor circuitryand signal processing 1727A and physiological sensor circuitry 1727B.The illustrated controller 1723 includes a feedback comparator 1752which can be referred to as an error detector, and a neural stimulationcontroller 1753. Some embodiments of the controller 1723 include anassociator 1754 of stimulation and sensed signals.

The illustrated controller 1723 also includes a memory or register 1755where values for various parameters can be programmed by an externalprogrammer using a transceiver, such as generally illustrated in FIGS.9B and 10. Various embodiments allow one or various combinations of twoor more of the following parameter types to be programmed: sensed neuralparameters 1756, stimulation parameters 1757, and dynamic inputselection 1758. The illustrated sensed neural parameters 1756 includesparameter(s) to be sensed 1759A through appropriate processing of sensedneural traffic, and a desired target parameter (or desired range ofparameters) 1760A. The illustrated stimulation parameters 1757 includestimulation parameter(s) to be adjusted 1761A in response to a feedbackcontrol signal, and available gain increment(s) 1762A for the adjustablestimulation parameter(s). These programmable parameters illustrated inmemory 1755 provide control inputs to various modules of the device. Inthe illustrated embodiment, the programmable sensed parameter(s) 1759Aprovide a control signal 1759B to the neural sensor circuitry and signalprocessing 1727A that indicates the selected parameters to be sensed.The programmable adjustable stimulation parameters 1761A provide acontrol signal 1761B to the neural stimulator 1726 that indicates theparameters of the stimulation waveform to be adjusted. The programmabletarget 1760A provides a control signal 1760B to the feedback comparator1752, the programmable gain increment 1762A provides a control signal1762B to the neural stimulator controller 1753 that indicates anappropriate gain (positive and negative) to increment or decrement thestimulation intensity resulting from the stimulation values for theneural stimulation parameter(s). The programmable dynamic inputselection 1758A provide a control signal 1758B to the neural stimulationcontroller to dynamically adjust the target range to account for otherfactors such as activity or time.

The neural sensor circuitry 1727A receives sensed neural traffic 1763and, based on the control signal 1759B representing the desiredparameter(s) to be sensed, processes the traffic to identify at leastone parameter from the sensed neural traffic. Various embodiments arecapable of sensing a signal amplitude, a signal frequency, a signaldelay with respect to neural stimulation, duration of sensed signals, apattern of sensed signals, and various combinations thereof. The neuralsensor circuitry 1727A outputs a processed sensed signal 1764 indicativeof the sensed parameters to the feedback comparator 1752, which comparesthe sensed parameter(s) received via signal 1764 to the target parameteror target parameter range 1760B for the sensed parameter(s). A result ofthe comparison is provided from the comparator 1752 to the neuralstimulation controller 1753 via feedback result signal 1765. Thecontroller 1753 receives the feedback result signal 1765, and delivers astimulation control signal 1766 based on the feedback result signal1765. The controller 1753 also can receive other control signals anddeliver the stimulation control signal 1766 using these other controlsignals. The neural stimulator 1726 receives the stimulation controlsignal and controls the neural stimulation 1767 to adjust the intensityof stimulation if appropriate to converge to desired neural traffic 1763as reflected by the comparison of processed sensed signal 1764 to thetarget 1760B. According to various embodiments, the stimulator circuitry1726 includes modules to set or adjust any one or any combination of twoor more of the following pulse features: the amplitude of thestimulation pulse, the frequency of the stimulation pulse, the burstfrequency of the pulse, the wave morphology of the pulse, and the pulsewidth. The illustrated burst frequency pulse feature includes burstduration and duty cycle, which can be adjusted as part of a burstfrequency pulse feature or can be adjusted separately without referenceto a steady burst frequency.

In addition to the feedback result control input signal 1765, someembodiments of the neural stimulation controller 1753 also receive again control input signal 1762B used to provide the desired stimulationcontrol signal 1766. It is noted that the intensity of the neuralstimulation signal 1767 can be complexly related to the parameters ofthe stimulation signal. Generally, an increased amplitude of the signalincreases neural stimulation. Additionally, there is a frequency windowwhich corresponds to the highest neural stimulation intensity, andfrequencies that are either higher or lower than the frequency windowprovide less neural stimulation. Also, stimulated neural sites canquickly adapt to steady stimulation. Thus, adjustments in stimulationintensity can correspond to a variety of adjustments to one or more ofthe amplitude of the stimulation pulse, the frequency of the stimulationpulse, the burst frequency of the pulse, the burst duration of thepulse, the duty cycle of the stimulation, the wave morphology of thepulse, and the pulse width. The gain control adjusts the stimulationparameter(s) to achieve a desired increment or decrement in neuralstimulation intensity. According to some embodiments, the parameteradjustments are predetermined to provide the stimulation intensityadjustments. Some embodiments use an iterative protocol to determine theeffects that parameter change(s) have on intensity. For example,according to some embodiments, the gain control signal 1762B controls analgorithm used to methodically adjust stimulation parameter(s) that areavailable for adjustment, compare the result to determine if the neuralstimulation results in a result closer to the target or further from thetarget, and then adjust the stimulation parameter(s) again to achievethe desired increment or decrement in the neural response. The same ordifferent parameters can be adjusted to achieve convergence on thedesired nerve traffic at the sensed neural site.

In addition to the feedback result control input signal 1765, someembodiments of the neural stimulation controller 1753 also receive adynamic control input signal used to provide the desired stimulationcontrol signal 1766. The illustrated dynamic input 1769 includes a clock1770 and physiological sensor circuitry 1727B. The illustratedphysiological sensor circuitry includes a heart rate sensor, an activitysensor, a pressure sensor, and impedance sensor. Other physiologicalsensors can be used. The dynamic input 1769 enables the dynamicadjustment of the effective operating target or target range 1760B basedon a clock (e.g. a circadian rhythm) and/or based on physiologicalparameters. Thus, for example, the dynamic input allows the target forthe sensed neural traffic to be different for someone exercising in theafternoon than sleeping in the middle of the night. The dynamic inputcan be used in other applications. The selection of the dynamic input aswell as the resulting control algorithms that use the dynamic inputcontrol signal can be programmable.

In addition to the feedback result control input signal 1765, someembodiments of the neural stimulation controller 1753 also receive anassociated result control input signal 1768 from the associator 1754.The illustrated associator 1754 receives a control signal 1771indicative of the neural stimulation 1767 provided by the neuralstimulator 1726, a control signal 1772 indicative of the sensed neuraltraffic 1763 received at the neural sensing circuitry 1727A, and acontrol signal 1773 indicative of the processed sensed signal 1764. Theassociator provides a means for associating the sensed neural activityto a stimulation event. For example, various embodiments use signalaveraging or temporal correlation to provide the association of thesensed activity to the stimulation event.

Thus, as generally illustrated by FIG. 17, a number of control systemembodiments can be used. One control system embodiment defines thetarget operating range of the evoked response magnitude. If the evokedresponse is less than the target, the stimulation amplitude, frequencyand/or burst duration is adjusted by one gain increment; if the evokedresponse is greater than the target, the stimulation amplitude,frequency and/or burst duration is adjusted by one gain decrement; andif the evoked response is within the target range, the stimulationsettings are maintained.

One control system embodiment defines a target operating range of theevoked response pattern, where the pattern includes at least one of adelay, a duration and a frequency of sensed nerve traffic. If the delayis larger or the duration shorter or the frequency less than the target,the stimulation amplitude or frequency or burst duration is adjusted byone gain increment. If the delay is shorter or the duration longer orthe frequency more than the target, the stimulation amplitude orfrequency or burst duration is adjusted by one gain decrement.

One control system embodiment dynamically determines the operatingtarget range using a clock or physiological sensor, such as a heart ratesensor, patient activity sensor, pressure sensor, impedance sensor, andthe like. The operating range and dynamic control are programmable insome embodiments.

One control system embodiment dynamically determines the gainadjustments using a clock or physiological sensors. The gains and theirdynamic control are programmable in some embodiments.

The stimulation and sensing leads can be located to position and/orsense any peripheral nerve, such as the vagus nerve, any sensoryreceptor regions such as a baroreceptor plexus, and ANS ganglia such asa cardiac fat pad or a sympathetic ganglion, and cardiac sympatheticbranches. Some lead configuration embodiments are illustrated below.

FIG. 18 illustrates an embodiment to stimulate and sense on the sameperipheral nerve path 1874. In the illustrated embodiment, one neuralsite 1875 on the nerve path 1874 is used to stimulate and another neuralsite 1876 on the same nerve path 1874 is used to sense neural traffic todetermine the evoked response of the stimulation. The illustrated neuralpath can be either an efferent or afferent nerve. The sensed nervetraffic can be used to monitor the effectiveness of the stimulationparameters to recruit nerve traffic and to adjust the stimulationparameters to achieve the recruitment goal.

FIG. 19 illustrates an embodiment to stimulate and sense at the sameneural site. The same set of electrodes 1977 can be used to stimulatethe nerve path 1974 and to measure the change in ambient nerve trafficsensed after the stimulation. For example, a branch (efferent orafferent) of a reflex circuit can be stimulated with a burst, and thenthe branch can be sensed to determine if the ambient or intrinsic levelof nerve activity increases or decreases within a specified period afterthe stimulation. The specified period corresponds to the reflex circuittime. The evoked reflex response magnitude can be used to determine ifthe stimulation needs to be increased or decreased to achieve thestimulation goal.

FIG. 20 illustrates efferent and afferent sympathetic nerves andefferent and afferent parasympathetic nerves within the autonomicnervous system (ANS). This illustration is useful as a reference for thecontrol system feedbacks generally illustrated in FIGS. 21A-D, 22A-D,23A-D and 24A-D. FIG. 20 illustrates a central nervous system CNS andnerves connecting the central nervous system to physiology. The nervesinclude sympathetic nerves and parasympathetic nerves. The sympatheticnervous system is affiliated with stress and the “fight or flightresponse” to emergencies. Among other effects, the “fight or flightresponse” increases blood pressure and heart rate to increase skeletalmuscle blood flow, and decreases digestion to provide the energy for“fighting or fleeing.” The parasympathetic nervous system is affiliatedwith relaxation and the “rest and digest response” which, among othereffects, decreases blood pressure and heart rate, and increasesdigestion to conserve energy. The ANS maintains normal internal functionand works with the somatic nervous system. Both the sympathetic andparasympathetic nerves include afferent nerves which deliver neuralsignals toward a CNS nerve center and efferent nerves which deliverneural signals away from a CNS nerve center. Neural traffic in one nervecan affect neural traffic in another nerve through a reflex circuit inthe neural network (illustrated generally as a physiology cloud as thefunctions associated with the sympathetic and parasympathetic nervoussystems are many and can be complexly integrated with each other).

Control systems use feedback based on a comparison of the sensedresponse and the goal response (Feedback=Sensed−Goal). Positive feedbackin a control system indicates exponential growth and divergent behavioras a positive differences becomes more positive and a negativedifference becomes more negative, and negative feedback in a controlsystem indicates maintenance of equilibrium and convergence to a goal.Thus, control systems use negative feedback to reach a stable, desiredoutput. A representation of an operation amplifier with a differentialinput having positive and negative terminals is used in FIGS. 21A-D,22A-D, 23A-D and 24A-D to illustrate positive and negative feedback fromthe perspective of the IMD control system.

Generally, stimulation of sympathetic nerves increases sympatheticneural activity and decreases or inhibits parasympathetic neuralactivity, and stimulation of parasympathetic nerves increasesparasympathetic neural activity and decreases sympathetic neuralactivity. The ANS is used as part of the feedback loop for neuralstimulators that sense neural traffic for control. The inverserelationship between parasympathetic and sympathetic activity results inthe use of positive feedback, from the perspective of the IMD controlssystem, to converge to a goal when stimulating one of a parasympatheticnerve and a sympathetic nerve and sensing neural traffic on the otherone of the parasympathetic nerve and the sympathetic nerve.

FIGS. 21A-D illustrate various control system embodiments forstimulating a sympathetic efferent nerve. FIG. 21A compares a targetneural response for a sympathetic efferent (TARGET S.E.) nerve to asensed neural response of the sympathetic efferent (SENSED S.E.) nerveto generate a stimulation signal for a sympathetic efferent nerve (STIM.S.E.). The sensed and stimulated sympathetic efferent nerves can be thesame or different nerves. A reflex circuit, represented by thephysiology cloud, provides a feedback for the STIM. S.E. nerve back tothe SENSED S.E. nerve. As both the stimulated and sensed nerves aresympathetic nerves, the IMD controller uses negative feedback, asrepresented by the negative terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too high,and will be increased if the sensed neural traffic is too low incomparison to the target. FIG. 21B compares a target neural response fora sympathetic afferent (TARGET S.A.) nerve to a sensed neural responseof the sympathetic afferent (SENSED S.A.) nerve to generate astimulation signal for a sympathetic efferent nerve (STIM. S.E.). Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. S.E. nerve back to the SENSED S.A. nerve. As both thestimulated and sensed nerves are sympathetic nerves, the IMD controlleruses negative feedback, as represented by the negative terminal on theamplifier. Thus, the stimulation will be reduced if the sensed neuraltraffic is too high, and will be increased if the sensed neural trafficis too low in comparison to the target. FIG. 21C compares a targetneural response for a parasympathetic efferent (TARGET P.E.) nerve to asensed neural response of the parasympathetic efferent (SENSED P.E.)nerve to generate a stimulation signal for a sympathetic efferent nerve(STIM. S.E.). A reflex circuit, represented by the physiology cloud,provides a feedback for the STIM. S.E. nerve back to the SENSED P.E.nerve. Since the sensed nerve is a parasympathetic nerve and thestimulated nerve is a sympathetic nerve, the IMD controller usespositive feedback, as represented by the positive terminal on theamplifier. Thus, the stimulation will be reduced if the sensed neuraltraffic is too low, and will be increased if the sensed neural trafficis too high in comparison to the target. FIG. 21D compares a targetneural response for a parasympathetic afferent (TARGET P.A.) nerve to asensed neural response of the parasympathetic afferent (SENSED P.A.)nerve to generate a stimulation signal for a sympathetic efferent nerve(STIM. S.E.). A reflex circuit, represented by the physiology cloud,provides a feedback for the STIM. S.E. nerve back to the SENSED P.A.nerve. Since the sensed nerve is a parasympathetic nerve and thestimulated nerve is a sympathetic nerve, the IMD controller usespositive feedback, as represented by the positive terminal on theamplifier. Thus, the stimulation will be reduced if the sensed neuraltraffic is too low, and will be increased if the sensed neural trafficis too high in comparison to the target.

FIGS. 22A-D illustrate various control system embodiments forstimulating a sympathetic afferent nerve. FIG. 22A compares a targetneural response for a sympathetic efferent (TARGET S.E.) nerve to asensed neural response of the sympathetic efferent (SENSED S.E.) nerveto generate a stimulation signal for a sympathetic afferent nerve (STIM.S.A.). A reflex circuit, represented by the physiology cloud, provides afeedback for the STIM. S.A. nerve back to the SENSED S.E. nerve. As boththe stimulated and sensed nerves are sympathetic nerves, the IMDcontroller uses negative feedback, as represented by the negativeterminal on the amplifier. Thus, the stimulation will be reduced if thesensed neural traffic is too high, and will be increased if the sensedneural traffic is too low in comparison to the target. FIG. 22B comparesa target neural response for a sympathetic afferent (TARGET S.A.) nerveto a sensed neural response of the sympathetic afferent (SENSED S.A.)nerve to generate a stimulation signal for a sympathetic afferent nerve(STIM. S.A.). The sensed and stimulated sympathetic afferent nerves canbe the same or different nerves. A reflex circuit, represented by thephysiology cloud, provides a feedback for the STIM. S.A. nerve back tothe SENSED S.A. nerve. As both the stimulated and sensed nerves aresympathetic nerves, the IMD controller uses negative feedback, asrepresented by the negative terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too high,and will be increased if the sensed neural traffic is too low incomparison to the target. FIG. 22C compares a target neural response fora parasympathetic efferent (TARGET P.E.) nerve to a sensed neuralresponse of the parasympathetic efferent (SENSED P.E.) nerve to generatea stimulation signal for a sympathetic afferent nerve (STIM. S.A.). Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. S.A. nerve back to the SENSED P.E. nerve. Since the sensednerve is a parasympathetic nerve and the stimulated nerve is asympathetic nerve, the IMD controller uses positive feedback, asrepresented by the positive terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too low, andwill be increased if the sensed neural traffic is too high in comparisonto the target. FIG. 22D compares a target neural response for aparasympathetic afferent (TARGET P.A.) nerve to a sensed neural responseof the parasympathetic afferent (SENSED P.A.) nerve to generate astimulation signal for a sympathetic afferent nerve (STIM. S.A.). Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. S.A. nerve back to the SENSED P.A. nerve. Since the sensednerve is a parasympathetic nerve and the stimulated nerve is asympathetic nerve, the IMD controller uses positive feedback, asrepresented by the positive terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too low, andwill be increased if the sensed neural traffic is too high in comparisonto the target.

FIGS. 23A-D illustrate various control system embodiments forstimulating a parasympathetic afferent nerve. FIG. 23A compares a targetneural response for a sympathetic efferent (TARGET S.E.) nerve to asensed neural response of the sympathetic efferent (SENSED S.E.) nerveto generate a stimulation signal for a parasympathetic afferent nerve(STIM. P.A.). A reflex circuit, represented by the physiology cloud,provides a feedback for the STIM. P.A. nerve back to the SENSED S.E.nerve. Since the sensed nerve is a sympathetic nerve and the stimulatednerve is a parasympathetic nerve, the IMD controller uses positivefeedback, as represented by the positive terminal on the amplifier.Thus, the stimulation will be reduced if the sensed neural traffic istoo low, and will be increased if the sensed neural traffic is too highin comparison to the target. FIG. 23B compares a target neural responsefor a sympathetic afferent (TARGET S.A.) nerve to a sensed neuralresponse of the sympathetic afferent (SENSED S.A.) nerve to generate astimulation signal for a parasympathetic afferent nerve (STIM. P.A.). Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. P.A. nerve back to the SENSED S.A. nerve. Since the sensednerve is a sympathetic nerve and the stimulated nerve is aparasympathetic nerve, the IMD controller uses positive feedback, asrepresented by the positive terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too low, andwill be increased if the sensed neural traffic is too high in comparisonto the target. FIG. 23C compares a target neural response for aparasympathetic efferent (TARGET P.E.) nerve to a sensed neural responseof the parasympathetic efferent (SENSED P.E.) nerve to generate astimulation signal for a parasympathetic afferent nerve (STIM. P.A.). Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. P.A. nerve back to the SENSED P.E. nerve. As both thestimulated and sensed nerves are parasympathetic nerves, the IMDcontroller uses negative feedback, as represented by the negativeterminal on the amplifier. Thus, the stimulation will be reduced if thesensed neural traffic is too high, and will be increased if the sensedneural traffic is too low in comparison to the target. FIG. 23D comparesa target neural response for a parasympathetic afferent (TARGET P.A.)nerve to a sensed neural response of the parasympathetic afferent(SENSED P.A.) nerve to generate a stimulation signal for aparasympathetic afferent nerve (STIM. P.A.). The sensed and stimulatedparasympathetic afferent nerves can be the same or different nerves. Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. P.A. nerve back to the SENSED P.A. nerve. As both thestimulated and sensed nerves are parasympathetic nerves, the IMDcontroller uses negative feedback, as represented by the negativeterminal on the amplifier. Thus, the stimulation will be reduced if thesensed neural traffic is too high, and will be increased if the sensedneural traffic is too low in comparison to the target.

FIGS. 24A-D illustrate various control system embodiments forstimulating a parasympathetic efferent nerve. FIG. 24A compares a targetneural response for a sympathetic efferent (TARGET S.E.) nerve to asensed neural response of the sympathetic efferent (SENSED S.E.) nerveto generate a stimulation signal for a parasympathetic efferent nerve(STIM. P.E.). A reflex circuit, represented by the physiology cloud,provides a feedback for the STIM. P.E. nerve back to the SENSED S.E.nerve. Since the sensed nerve is a sympathetic nerve and the stimulatednerve is a parasympathetic nerve, the IMD controller uses positivefeedback, as represented by the positive terminal on the amplifier.Thus, the stimulation will be reduced if the sensed neural traffic istoo low, and will be increased if the sensed neural traffic is too highin comparison to the target. FIG. 24B compares a target neural responsefor a sympathetic afferent (TARGET S.A.) nerve to a sensed neuralresponse of the sympathetic afferent (SENSED S.A.) nerve to generate astimulation signal for a parasympathetic efferent nerve (STIM. P.E.). Areflex circuit, represented by the physiology cloud, provides a feedbackfor the STIM. P.E. nerve back to the SENSED S.A. nerve. Since the sensednerve is a sympathetic nerve and the stimulated nerve is aparasympathetic nerve, the IMD controller uses positive feedback, asrepresented by the positive terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too low, andwill be increased if the sensed neural traffic is too high in comparisonto the target. FIG. 24C compares a target neural response for aparasympathetic efferent (TARGET P.E.) nerve to a sensed neural responseof the parasympathetic efferent (SENSED P.E.) nerve to generate astimulation signal for a parasympathetic efferent nerve (STIM. P.E.).The sensed and stimulated parasympathetic efferent nerves can be thesame or different nerves. A reflex circuit, represented by thephysiology cloud, provides a feedback for the STIM. P.E. nerve back tothe SENSED P.E. nerve. As both the stimulated and sensed nerves areparasympathetic nerves, the IMD controller uses negative feedback, asrepresented by the negative terminal on the amplifier. Thus, thestimulation will be reduced if the sensed neural traffic is too high,and will be increased if the sensed neural traffic is too low incomparison to the target. FIG. 24D compares a target neural response fora parasympathetic afferent (TARGET P.A.) nerve to a sensed neuralresponse of the parasympathetic afferent (SENSED P.A.) nerve to generatea stimulation signal for a parasympathetic efferent nerve (STIM. P.E.).A reflex circuit, represented by the physiology cloud, provides afeedback for the STIM. P.E. nerve back to the SENSED P.A. nerve. As boththe stimulated and sensed nerves are parasympathetic nerves, the IMDcontroller uses negative feedback, as represented by the negativeterminal on the amplifier. Thus, the stimulation will be reduced if thesensed neural traffic is too high, and will be increased if the sensedneural traffic is too low in comparison to the target.

FIG. 25 illustrates an embodiment of a method to adjust neuralstimulation based on sensed parameter(s). At 2580, a determination ismade as to whether the sensed parameter(s) are within the target range.The sensed parameter(s) include neural traffic parameters. In someembodiments, the sensed parameter(s) also include parameters fromphysiological sensors. If the parameter(s) are determined to be within atarget range, the stimulation settings are maintained 2581 and theprocess returns to 2580. If the parameter(s) are determined to beoutside of a target range, the process proceeds to 2582 to change theneural stimulation by at least one gain increment or decrement,depending on the arrangement, to move the sensed parameter(s) toward thetarget. Various embodiments provide other ranges above and/or below thetarget range; various embodiments provide a target-sub-range within thetarget range, and various embodiments further provide a number of othersub-ranges above and/or below the target sub-range; various embodimentsprovide a target sub-sub-range within a target sub-range, and variousembodiments further provide other sub-sub-ranges above and/or below thetarget sub-sub-range. Various stimulation adjustment protocols can beused depending on the range, sub-range and sub-sub-range. Thus, forexample, large adjustments can be made by adjusting one parameter (e.g.frequency) of the stimulation signal, and smaller adjustments can bemade by adjusting another parameter (e.g. amplitude) of a stimulationsignal.

One example of an application is an IMD to control peripheral bloodpressure (hypertension). In one embodiment, baroreceptor activity isstimulated and sensed using the same electrodes. Baroreceptors can bestimulated during one cardiac cycle and sensed during another cardiaccycle (e.g. the cardiac cycle that immediately follows the cycle whenstimulation occurred). Negative feedback control is used. In anotherembodiment, a vagus nerve or cardiac fat pad can be stimulated at afirst site, and baroreceptor activity can be recorded at a second site.Negative feedback control is used for this embodiment too as the vagusnerve, cardiac fat pad, and baroreceptors are all parasympathetic sites.

Another example of an application is an IMD to treat dysautonomia (lowand abnormally varying blood pressure). One embodiment sensesbaroreceptor activity at one site and stimulates a cardiac sympatheticnerve branch at another site. Positive feedback control is used asbaroreceptors are parasympathetic sites and the cardiac sympatheticnerve branch is a sympathetic site.

Another example of an application is an IMD to treat myocardialinfarction, angina, and/or heart failure. One embodiment stimulates andsenses efferent or afferent evoked responses in the vagus nerve at twosites. The stimulation and sensing can be rostral stimulation and caudalsensing, or caudal stimulation and rostral sensing. Negative feedbackcontrol is used to get a target level of evoked nerve traffic. Oneembodiment stimulates the vagus nerve and senses sympathetic nervetraffic. Since the vagus nerve is a parasympathetic site, a positivefeedback control is used to get a target level of sympathetic nerveactivity.

One of ordinary skill in the art will understand that, the modules andother circuitry shown and described herein can be implemented usingsoftware, hardware, and combinations of software and hardware. As such,the term module is intended to encompass software implementations,hardware implementations, and software and hardware implementations.

The methods illustrated in this disclosure are not intended to beexclusive of other methods within the scope of the present subjectmatter. Those of ordinary skill in the art will understand, upon readingand comprehending this disclosure, other methods within the scope of thepresent subject matter. The above-identified embodiments, and portionsof the illustrated embodiments, are not necessarily mutually exclusive.These embodiments, or portions thereof, can be combined. For example,various embodiments combine two or more of the illustrated processes.Two or more sensed parameters can be combined into a composite parameterused to provide a desired neural stimulation (NS) or anti-hypertension(AHT) therapy. In various embodiments, the methods provided above areimplemented as a computer data signal embodied in a carrier wave orpropagated signal, that represents a sequence of instructions which,when executed by a processor cause the processor to perform therespective method. In various embodiments, methods provided above areimplemented as a set of instructions contained on a computer-accessiblemedium capable of directing a processor to perform the respectivemethod. In various embodiments, the medium is a magnetic medium, anelectronic medium, or an optical medium.

Although specific embodiments have been illustrated and describedherein, it will be appreciated by those of ordinary skill in the artthat any arrangement which is calculated to achieve the same purpose maybe substituted for the specific embodiment shown. This application isintended to cover adaptations or variations of the present subjectmatter. It is to be understood that the above description is intended tobe illustrative, and not restrictive. Combinations of the aboveembodiments as well as combinations of portions of the above embodimentsin other embodiments will be apparent to those of skill in the art uponreviewing the above description. The scope of the present subject mattershould be determined with reference to the appended claims, along withthe full scope of equivalents to which such claims are entitled.

1. (canceled)
 2. A device for delivering a closed-loop neuralstimulation therapy to a desired neural target in an autonomic nervoussystem (ANS) to converge on a desired neural response, wherein the ANSincludes a reflex circuit, the device comprising: a pulse generatoradapted to provide a neural stimulation signal to stimulate the desiredneural target for the neural stimulation therapy, wherein stimulatingthe desired neural target affects neural traffic at a neural sensingsite through the reflex circuit of the ANS; a signal processing moduleadapted to receive and process a nerve traffic signal representative ofsensed nerve activity at the neural sensing site, wherein the signalprocessing module is adapted to receive and process the nerve trafficsignal into a signal indicative of a detected reflex neural response tostimulating the neural target; and a controller connected to the pulsegenerator and the signal processing module, wherein the controller isadapted to adjust at least one stimulation parameter of the neuralstimulation signal based on the detected reflex neural response to causethe detected reflex neural response to converge on the desired neuralresponse to the neural stimulation signal, wherein the controllerincludes: a programmed target for the signal indicative of the detectedreflex response; a feedback comparator configured to receive the signalindicative of the detected reflex response from the signal processingmodule, compare the signal indicative of the detected reflex response tothe programmed target, and generate a feedback signal for use incontrolling the closed-loop neural stimulation therapy; an associatoradapted to associate a stimulation event at the neural target to sensednerve activity at the neural sensing site to verify a causalrelationship between the stimulation event and the sensed nerveactivity, and adapted to provide an association result indicating whenthe sensed nerve activity has a causal relationship with the stimulationevent through the reflex circuit of the ANS; and a neural controlleradapted to receive the association result to confirm that the sensednerve activity is the detected reflex response, adapted to receive thefeedback signal, and adapted to generate a stimulation control signalusing the feedback signal to adjust the at least one stimulationparameter to cause the detected reflex neural response to converge onthe desired neural response.
 3. The device of claim 2, wherein thecontroller is configured to account for a reflex circuit time from thestimulation event to a time when the stimulated desired neural targetaffects neural traffic at the neural sensing site through the reflexcircuit of the ANS.
 4. The device of claim 2, wherein the associator isadapted to use averaging to associate the sensed activity to thestimulation event.
 5. The device of claim 2, wherein the associator isadapted to use temporal correlation to associate the sensed activity tothe stimulation event.
 6. The device of claim 2, wherein the neuralsimulation site is at the neural sensing site.
 7. The device of claim 2,wherein the parasympathetic neural stimulation site is a different sitethan the parasympathetic neural sensing site.
 8. The device of claim 2,wherein the desired neural target is a parasympathetic neuralstimulation site and the neural sensing site is a sympathetic neuralsensing site, the controller being adapted to adjust the at least oneparameter of the neural stimulation signal to converge on the desiredneural response at the sympathetic neural sensing site by reducing thestimulation if the nerve traffic signal is too low and increasing thestimulation if the nerve traffic signal is too high.
 9. The device ofclaim 2, wherein the desired neural target is a sympathetic neuralstimulation site and the neural sensing site is a parasympathetic neuralsensing site, the neural controller being adapted to adjust the at leastone parameter of the neural stimulation signal to converge on thedesired sensed neural traffic at the parasympathetic neural sensing siteby reducing the stimulation if the nerve traffic signal is too low andincreasing the stimulation if the nerve traffic signal is too high. 10.The device of claim 9, wherein the desired neural target is a cardiacsympathetic nerve branch, and the neural sensing site is a baroreceptorsite.
 11. The device of claim 2, wherein the neural controller isconfigured to receive a dynamic input control signal to adjust thetarget.
 12. The device of claim 2, wherein the neural controller isconfigured to receive a gain input control signal to increment anddecrement a gain for an intensity of the neural stimulation based on thefeedback control signal and wherein the neural controller is configuredto receive a dynamic input control signal to adjust the gain.
 13. Thedevice of claim 2, wherein the neural stimulation site includes at leastone of a vagus nerve and a cardiac fat pad, and the neural sensing siteincludes a baroreceptor site.
 14. The device of claim 2, wherein theneural stimulation site includes a first site on a vagus nerve, and theneural sensing site includes a second site on the vagus nerve.
 15. Thedevice of claim 2, wherein one of the desired neural target and theneural sensing site is an efferent site and the other is an afferentsite.
 16. The device of claim 2, wherein both the desired neural targetand the neural sensing site are afferent sites on the vagus nerve, orboth the desired neural target and the neural sensing site are efferentsites on the vagus nerve.
 17. The device of claim 2, wherein both theneural stimulation site and the neural sensing site include a cardiacsympathetic nerve branch.
 18. The device of claim 2, wherein the deviceis configured to perform an iterative protocol to determine effects ofone or more neural stimulation parameter changes.
 19. The device ofclaim 2, wherein the programmed target for the signal indicative of thedetected reflex response includes a target operating range of evokedresponse magnitude.
 20. The device of claim 2, wherein the programmedtarget for the signal indicative of the detected reflex responseincludes a target operating range of an evoked response pattern, whereinthe evoked response pattern includes a one or more of a delay, aduration or a frequency of the sensed nerve activity.
 21. A device,comprising: a pulse generator adapted to provide a neural stimulationsignal to be applied at a neural simulation site within an autonomicnervous system (ANS); a signal processing module adapted to receive andprocess sensed neural traffic at a neural sensing site within the ANS,wherein the sensed neural traffic includes an evoked response to theneural stimulation signal applied at the neural stimulation site; acontroller configured to provide closed-loop control of the pulsegenerator, wherein the controller is connected to the pulse generatorand adapted to provide a neural stimulation control signal to the pulsegenerator to generate the neural stimulation signal and connected to thesignal processing module to receive a feedback control signal indicativeof the evoked nerve traffic response to the neural stimulation signal,wherein the controller is configured to provide the closed-loop controlby adjusting the neural stimulation control signal to adjust at leastone parameter of the neural stimulation signal to converge on a desiredevoked nerve traffic response target, wherein the controller isconfigured to receive a gain control input to control a desiredincrement or decrement in neural stimulation intensity to converge onthe desired evoked nerve traffic response target.